From cc534b2cdc270fb7da3e6a7be0b14e68cf5671bf Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Tue, 27 Aug 2024 12:07:03 +0900 Subject: [PATCH] remove topic_state_monitor for camera --- .../launch/topic_state_monitor.launch.py | 161 ------------------ 1 file changed, 161 deletions(-) diff --git a/aip_x2_launch/launch/topic_state_monitor.launch.py b/aip_x2_launch/launch/topic_state_monitor.launch.py index 33752590..0eafa9e0 100644 --- a/aip_x2_launch/launch/topic_state_monitor.launch.py +++ b/aip_x2_launch/launch/topic_state_monitor.launch.py @@ -173,159 +173,6 @@ def generate_launch_description(): extra_arguments=[{"use_intra_process_comms": True}], ) - # Camera topic monitors - camera0_topic_monitor = ComposableNode( - package="topic_state_monitor", - plugin="topic_state_monitor::TopicStateMonitorNode", - name="topic_state_monitor_camera0", - parameters=[ - { - "topic": "/sensing/camera/camera0/camera_info", - "topic_type": "sensor_msgs/msg/CameraInfo", - "best_effort": True, - "diag_name": "camera0_topic_status", - "warn_rate": 5.0, - "error_rate": 1.0, - "timeout": 5.0, - "window_size": 10, - } - ], - extra_arguments=[{"use_intra_process_comms": True}], - ) - - camera1_topic_monitor = ComposableNode( - package="topic_state_monitor", - plugin="topic_state_monitor::TopicStateMonitorNode", - name="topic_state_monitor_camera1", - parameters=[ - { - "topic": "/sensing/camera/camera1/camera_info", - "topic_type": "sensor_msgs/msg/CameraInfo", - "best_effort": True, - "diag_name": "camera1_topic_status", - "warn_rate": 5.0, - "error_rate": 1.0, - "timeout": 5.0, - "window_size": 10, - } - ], - extra_arguments=[{"use_intra_process_comms": True}], - ) - - camera2_topic_monitor = ComposableNode( - package="topic_state_monitor", - plugin="topic_state_monitor::TopicStateMonitorNode", - name="topic_state_monitor_camera2", - parameters=[ - { - "topic": "/sensing/camera/camera2/camera_info", - "topic_type": "sensor_msgs/msg/CameraInfo", - "best_effort": True, - "diag_name": "camera2_topic_status", - "warn_rate": 5.0, - "error_rate": 1.0, - "timeout": 5.0, - "window_size": 10, - } - ], - extra_arguments=[{"use_intra_process_comms": True}], - ) - - camera3_topic_monitor = ComposableNode( - package="topic_state_monitor", - plugin="topic_state_monitor::TopicStateMonitorNode", - name="topic_state_monitor_camera3", - parameters=[ - { - "topic": "/sensing/camera/camera3/camera_info", - "topic_type": "sensor_msgs/msg/CameraInfo", - "best_effort": True, - "diag_name": "camera3_topic_status", - "warn_rate": 5.0, - "error_rate": 1.0, - "timeout": 5.0, - "window_size": 10, - } - ], - extra_arguments=[{"use_intra_process_comms": True}], - ) - - camera4_topic_monitor = ComposableNode( - package="topic_state_monitor", - plugin="topic_state_monitor::TopicStateMonitorNode", - name="topic_state_monitor_camera4", - parameters=[ - { - "topic": "/sensing/camera/camera4/camera_info", - "topic_type": "sensor_msgs/msg/CameraInfo", - "best_effort": True, - "diag_name": "camera4_topic_status", - "warn_rate": 5.0, - "error_rate": 1.0, - "timeout": 5.0, - "window_size": 10, - } - ], - extra_arguments=[{"use_intra_process_comms": True}], - ) - - camera5_topic_monitor = ComposableNode( - package="topic_state_monitor", - plugin="topic_state_monitor::TopicStateMonitorNode", - name="topic_state_monitor_camera5", - parameters=[ - { - "topic": "/sensing/camera/camera5/camera_info", - "topic_type": "sensor_msgs/msg/CameraInfo", - "best_effort": True, - "diag_name": "camera5_topic_status", - "warn_rate": 5.0, - "error_rate": 1.0, - "timeout": 5.0, - "window_size": 10, - } - ], - extra_arguments=[{"use_intra_process_comms": True}], - ) - - camera6_topic_monitor = ComposableNode( - package="topic_state_monitor", - plugin="topic_state_monitor::TopicStateMonitorNode", - name="topic_state_monitor_camera6", - parameters=[ - { - "topic": "/sensing/camera/camera6/camera_info", - "topic_type": "sensor_msgs/msg/CameraInfo", - "best_effort": True, - "diag_name": "camera6_topic_status", - "warn_rate": 5.0, - "error_rate": 1.0, - "timeout": 5.0, - "window_size": 10, - } - ], - extra_arguments=[{"use_intra_process_comms": True}], - ) - - camera7_topic_monitor = ComposableNode( - package="topic_state_monitor", - plugin="topic_state_monitor::TopicStateMonitorNode", - name="topic_state_monitor_camera7", - parameters=[ - { - "topic": "/sensing/camera/camera7/camera_info", - "topic_type": "sensor_msgs/msg/CameraInfo", - "best_effort": True, - "diag_name": "camera7_topic_status", - "warn_rate": 5.0, - "error_rate": 1.0, - "timeout": 5.0, - "window_size": 10, - } - ], - extra_arguments=[{"use_intra_process_comms": True}], - ) - # ComposableNodeContainer to run all ComposableNodes container = ComposableNodeContainer( name="topic_state_monitor_container", @@ -341,14 +188,6 @@ def generate_launch_description(): radar_rear_center_monitor, radar_rear_left_monitor, radar_rear_right_monitor, - camera0_topic_monitor, - camera1_topic_monitor, - camera2_topic_monitor, - camera3_topic_monitor, - camera4_topic_monitor, - camera5_topic_monitor, - camera6_topic_monitor, - camera7_topic_monitor, ], output="screen", )